[API CHANGE] Moved to constraint.update(x) to constraint.upadte()

ADVRHumanoids · Mar 25, 2024 · 63479ea · 63479ea
1 parent 2bffb84
commit 63479ea
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Showing 69 changed files with 185 additions and 186 deletions.
diff --git a/include/OpenSoT/Constraint.h b/include/OpenSoT/Constraint.h
@@ -177,9 +177,8 @@
          */
         std::string getConstraintID(){ return _constraint_id; }
 
-        /** Updates the A, b, Aeq, beq, Aineq, b*Bound matrices 
-            @param x variable state at the current step (input) */
-        virtual void update(const Vector_type& x) {}
+        /** Updates the A, b, Aeq, beq, Aineq, b*Bound matrices */
+        virtual void update() {}
 
         /**
          * @brief log logs common Constraint internal variables

diff --git a/include/OpenSoT/SubConstraint.h b/include/OpenSoT/SubConstraint.h
@@ -45,7 +45,7 @@ class SubConstraint : public Constraint<Eigen::MatrixXd, Eigen::VectorXd> {
 
     virtual ~SubConstraint(){}
 
-    virtual void update(const Eigen::VectorXd& x);
+    virtual void update();
 
 protected:
     Indices _subConstraintMap;

diff --git a/include/OpenSoT/Task.h b/include/OpenSoT/Task.h
@@ -372,13 +372,13 @@
             @return the number of rows of A */
         virtual const unsigned int getTaskSize() const { return _A.rows(); }
 
-        /** Updates the A, b, Aeq, beq, Aineq, b*Bound matrices 
+        /** Updates the A, b, Aeq, beq, Aineq, b*Bound matrices
             @param x variable state at the current step (input) */
         void update(const Vector_type &x) {
 
 
             for(typename std::list< ConstraintPtr >::iterator i = this->getConstraints().begin();
-                i != this->getConstraints().end(); ++i) (*i)->update(x);
+                i != this->getConstraints().end(); ++i) (*i)->update();
             this->_update(x);
 
             if(!_is_active){

diff --git a/include/OpenSoT/constraints/Aggregated.h b/include/OpenSoT/constraints/Aggregated.h
@@ -142,7 +142,7 @@ using namespace OpenSoT::utils;
                             EQUALITIES_TO_INEQUALITIES |
                             UNILATERAL_TO_BILATERAL);
 
-            void update(const Eigen::VectorXd &x);
+            void update();
 
             void log(XBot::MatLogger2::Ptr logger) override;
 

diff --git a/include/OpenSoT/constraints/GenericConstraint.h b/include/OpenSoT/constraints/GenericConstraint.h
@@ -67,7 +67,7 @@ class GenericConstraint : public Constraint<Eigen::MatrixXd, Eigen::VectorXd> {
     bool setBounds(const Eigen::VectorXd& upper_bound,
                    const Eigen::VectorXd& lower_bound);
 
-    virtual void update(const Eigen::VectorXd& x);
+    virtual void update();
 
     Type getType(){return _type;}
 

diff --git a/include/OpenSoT/constraints/TaskToConstraint.h b/include/OpenSoT/constraints/TaskToConstraint.h
@@ -67,7 +67,7 @@
              * @brief update updates the adapted task and the adapter constraint
              * @param q
              */
-            void update(const Eigen::VectorXd &q);
+            void update();
 
         protected:
 

diff --git a/include/OpenSoT/constraints/acceleration/JointLimits.h b/include/OpenSoT/constraints/acceleration/JointLimits.h
@@ -81,7 +81,7 @@
                             const double dt);
 
 
-                void update(const Eigen::VectorXd& x);
+                void update();
 
                 /**
                  * @brief setJointAccMax updates joint acceleration limits

diff --git a/include/OpenSoT/constraints/acceleration/JointLimitsECBF.h b/include/OpenSoT/constraints/acceleration/JointLimitsECBF.h
@@ -72,7 +72,7 @@ namespace OpenSoT {
                             const Eigen::VectorXd &jointVelMax,
                             const Eigen::VectorXd &jointAccMax);
 
-                void update(const Eigen::VectorXd& x);
+                void update();
 
                 /**
                  * @brief setAlpha1 gain applied to joint position limits

diff --git a/include/OpenSoT/constraints/acceleration/JointLimitsViability.h b/include/OpenSoT/constraints/acceleration/JointLimitsViability.h
@@ -93,7 +93,7 @@
                             const double dt);
 
 
-                void update(const Eigen::VectorXd& x);
+                void update();
 
                 /**
                  * @brief setJointAccMax update maximum accelerations

diff --git a/include/OpenSoT/constraints/acceleration/TorqueLimits.h b/include/OpenSoT/constraints/acceleration/TorqueLimits.h
@@ -32,7 +32,7 @@ class TorqueLimits : public Constraint<Eigen::MatrixXd, Eigen::VectorXd> {
                  const std::vector<std::string>& contact_links,
                  const Eigen::VectorXd& torque_limits);
 
-    void update(const Eigen::VectorXd& x);
+    void update();
 
     /**
      * @brief setTorqueLimits to set new torque limits

diff --git a/include/OpenSoT/constraints/acceleration/VelocityLimits.h b/include/OpenSoT/constraints/acceleration/VelocityLimits.h
@@ -45,7 +45,7 @@ class VelocityLimits : public Constraint<Eigen::MatrixXd, Eigen::VectorXd> {
      * @brief update
      * @param x
      */
-    virtual void update(const Eigen::VectorXd& x);
+    virtual void update();
 
     /**
      * @brief setVelocityLimits update velocity limits

diff --git a/include/OpenSoT/constraints/force/CoP.h b/include/OpenSoT/constraints/force/CoP.h
@@ -51,7 +51,7 @@ namespace OpenSoT {
 
        private:
 
-            virtual void update(const Eigen::VectorXd& x);
+            virtual void update();
 
             std::string _contact_link;
 
@@ -85,7 +85,7 @@ namespace OpenSoT {
 
            CoP::Ptr getCoP(const std::string& contact_name);
 
-           void update(const Eigen::VectorXd &x);
+           void update();
 
 
        private:

diff --git a/include/OpenSoT/constraints/force/FrictionCone.h b/include/OpenSoT/constraints/force/FrictionCone.h
@@ -70,7 +70,7 @@
                              const friction_cone & mu);
 
 
-                void update(const Eigen::VectorXd &x);
+                void update();
 
                 void setFrictionCone(const friction_cone& frc);
 
@@ -101,7 +101,7 @@
 
                 FrictionCone::Ptr getFrictionCone(const std::string& contact_name);
 
-                void update(const Eigen::VectorXd &x);
+                void update();
 
             private:
                 std::map<std::string, FrictionCone::Ptr> _friction_cone_map;

diff --git a/include/OpenSoT/constraints/force/NormalTorque.h b/include/OpenSoT/constraints/force/NormalTorque.h
@@ -56,7 +56,7 @@ class NormalTorque: public Constraint<Eigen::MatrixXd, Eigen::VectorXd> {
                  const Eigen::Vector2d& Y_Lims,
                  const double& mu);
 
-    void update(const Eigen::VectorXd &x);
+    void update();
 
     /**
      * @brief setMu update friction coefficient
@@ -110,7 +110,7 @@ class NormalTorques: public Constraint<Eigen::MatrixXd, Eigen::VectorXd> {
 
     NormalTorque::Ptr getNormalTorque(const std::string& contact_name);
 
-    void update(const Eigen::VectorXd &x);
+    void update();
 
 private:
     std::map<std::string, NormalTorque::Ptr> _normal_torque_map;

diff --git a/include/OpenSoT/constraints/force/StaticConstraint.h b/include/OpenSoT/constraints/force/StaticConstraint.h
@@ -31,7 +31,7 @@ namespace OpenSoT { namespace constraints { namespace force {
 
     private:
 
-        void update(const Eigen::VectorXd& x) override;
+        void update() override;
 
         const XBot::ModelInterface& _robot;
         std::vector<std::string> _contact_links;

diff --git a/include/OpenSoT/constraints/force/WrenchLimits.h b/include/OpenSoT/constraints/force/WrenchLimits.h
@@ -135,7 +135,7 @@
                  */
                 WrenchLimits::Ptr getWrenchLimits(const std::string& contact_name);
 
-                void update(const Eigen::VectorXd &x);
+                void update();
 
             private:
                 std::map<std::string, WrenchLimits::Ptr> _wrench_lims_constraints;

diff --git a/include/OpenSoT/constraints/velocity/CartesianPositionConstraint.h b/include/OpenSoT/constraints/velocity/CartesianPositionConstraint.h
@@ -85,7 +85,7 @@
                                              const Eigen::VectorXd& b_Cartesian,
                                             const double boundScaling = 1.0);
 
-                void update(const Eigen::VectorXd &x);
+                void update();
 
                 /**
                  * @brief getCurrentPosition return the current Cartesian position of the bounded Task

diff --git a/include/OpenSoT/constraints/velocity/CartesianVelocity.h b/include/OpenSoT/constraints/velocity/CartesianVelocity.h
@@ -60,7 +60,7 @@
                                   const double dT,
                                   const OpenSoT::tasks::velocity::CoM::Ptr& task);
 
-                virtual void update(const Eigen::VectorXd &x);
+                virtual void update();
 
                 /**
                  * @brief getVelocityLimits

diff --git a/include/OpenSoT/constraints/velocity/CollisionAvoidance.h b/include/OpenSoT/constraints/velocity/CollisionAvoidance.h
@@ -91,7 +91,7 @@ class CollisionAvoidance: public Constraint<Eigen::MatrixXd, Eigen::VectorXd>
      *  previously stored value
      * @param x the state vector.
      */
-    void update(const Eigen::VectorXd &x);
+    void update();
 
 
     /**

diff --git a/include/OpenSoT/constraints/velocity/ConvexHull.h b/include/OpenSoT/constraints/velocity/ConvexHull.h
@@ -94,7 +94,7 @@
                  */
                 void setSafetyMargin(const double safetyMargin);
 
-                void update(const Eigen::VectorXd &x);
+                void update();
 
                 std::list<std::string> getLinksInContact()
                 {

diff --git a/include/OpenSoT/constraints/velocity/JointLimits.h b/include/OpenSoT/constraints/velocity/JointLimits.h
@@ -54,7 +54,7 @@
                             const Eigen::VectorXd &jointBoundMin,
                             const double boundScaling = 1.0);
 
-                void update(const Eigen::VectorXd &x);
+                void update();
                 void setBoundScaling(const double boundScaling);
             };
         }

diff --git a/include/OpenSoT/constraints/velocity/JointLimitsInvariace.h b/include/OpenSoT/constraints/velocity/JointLimitsInvariace.h
@@ -84,7 +84,7 @@
                             const double dt);
 
 
-                void update(const Eigen::VectorXd& x);
+                void update();
 
                 /**
                  * @brief setJointAccMax updates joint acceleration limits

diff --git a/include/OpenSoT/constraints/velocity/OmniWheels4X.h b/include/OpenSoT/constraints/velocity/OmniWheels4X.h
@@ -74,7 +74,7 @@ namespace OpenSoT {
             * @brief update the constraint
             * @param x state vector
             */
-           virtual void update(const Eigen::VectorXd &x);
+           virtual void update();
 
 
        private:

diff --git a/include/OpenSoT/utils/AffineUtils.h b/include/OpenSoT/utils/AffineUtils.h
@@ -43,7 +43,7 @@ class AffineConstraint: public Constraint<Eigen::MatrixXd, Eigen::VectorXd>
     AffineConstraint(const OpenSoT::constraints::Aggregated::ConstraintPtr& constraint,
                const AffineHelper& var);
 
-    virtual void update(const Eigen::VectorXd& x);
+    virtual void update();
     ~AffineConstraint();
 
     static AffineConstraint::Ptr toAffine(const OpenSoT::constraints::Aggregated::ConstraintPtr& constraint,

diff --git a/src/constraints/Aggregated.cpp b/src/constraints/Aggregated.cpp
@@ -57,14 +57,14 @@ Aggregated::Aggregated(ConstraintPtr bound1,
     this->generateAll();
 }
 
-void Aggregated::update(const Eigen::VectorXd& x) {
+void Aggregated::update() {
     /* iterating on all bounds.. */
     for(typename std::list< ConstraintPtr >::iterator i = _bounds.begin();
         i != _bounds.end(); i++) {
 
         ConstraintPtr &b = *i;
         /* update bounds */
-        b->update(x);
+        b->update();
     }
 
     this->generateAll();

diff --git a/src/constraints/GenericConstraint.cpp b/src/constraints/GenericConstraint.cpp
@@ -77,7 +77,7 @@ bool OpenSoT::constraints::GenericConstraint::setConstraint(const AffineHelper&
 }
 
 
-void OpenSoT::constraints::GenericConstraint::update(const Eigen::VectorXd& x)
+void OpenSoT::constraints::GenericConstraint::update()
 {
 
 }
diff --git a/src/constraints/SubConstraint.cpp b/src/constraints/SubConstraint.cpp
@@ -46,9 +46,9 @@ SubConstraint::SubConstraint(ConstraintPtr constrPtr, const std::list<unsigned i
     }
 }
 
-void SubConstraint::update(const Eigen::VectorXd& x)
+void SubConstraint::update()
 {
-    _constraintPtr->update(x);
+    _constraintPtr->update();
     if(_constraintPtr->isBound()) //1. constraint ptr is a bound, we transform it into a constraint with less rows
     {
         generateBound(this->_constraintPtr->getLowerBound(), this->_bLowerBound);

diff --git a/src/constraints/TaskToConstraint.cpp b/src/constraints/TaskToConstraint.cpp
@@ -52,9 +52,9 @@ TaskToConstraint::TaskToConstraint(TaskToConstraint::TaskPtr task,
 }
 
 
-void TaskToConstraint::update(const Eigen::VectorXd &q)
+void TaskToConstraint::update()
 {
-    _task->update(q);
+    _task->update(Eigen::VectorXd(0));
     this->generateAll();
 }
 

diff --git a/src/constraints/acceleration/JointLimits.cpp b/src/constraints/acceleration/JointLimits.cpp
@@ -51,11 +51,11 @@ JointLimits::JointLimits(   XBot::ModelInterface& robot,
                 -_jointAccMax,
                 OpenSoT::constraints::GenericConstraint::Type::CONSTRAINT);
 
-    update(Eigen::VectorXd(1));
+    update();
 }
 
 
-void JointLimits::update(const Eigen::VectorXd& x)
+void JointLimits::update()
 {
     _robot.getJointPosition(_q);
     _robot.getJointVelocity(_qdot);
@@ -167,7 +167,7 @@ void JointLimits::update(const Eigen::VectorXd& x)
 
     _generic_constraint_internal->setBounds(__upperBound, __lowerBound);
 
-    _generic_constraint_internal->update(x);
+    _generic_constraint_internal->update();
 
     _Aineq = _generic_constraint_internal->getAineq();
     _bLowerBound = _generic_constraint_internal->getbLowerBound();

diff --git a/src/constraints/acceleration/JointLimitsECBF.cpp b/src/constraints/acceleration/JointLimitsECBF.cpp
@@ -30,10 +30,10 @@ JointLimitsECBF::JointLimitsECBF(XBot::ModelInterface &robot,
     __lowerBound = -jointAccMax;
     __upperBound = jointAccMax;
 
-    update(Eigen::VectorXd(1));
+    update();
 }
 
-void JointLimitsECBF::update(const Eigen::VectorXd &x)
+void JointLimitsECBF::update()
 {
     _robot.getJointPosition(_q);
     _robot.getJointVelocity(_qdot);
@@ -63,7 +63,7 @@ void JointLimitsECBF::update(const Eigen::VectorXd &x)
 
     _generic_constraint_internal->setBounds(__upperBound, __lowerBound);
 
-    _generic_constraint_internal->update(x);
+    _generic_constraint_internal->update();
 
     _Aineq = _generic_constraint_internal->getAineq();
     _bLowerBound = _generic_constraint_internal->getbLowerBound();

diff --git a/src/constraints/acceleration/JointLimitsViability.cpp b/src/constraints/acceleration/JointLimitsViability.cpp
@@ -63,7 +63,7 @@ JointLimitsViability::JointLimitsViability(XBot::ModelInterface& robot,
                 -_jointAccMax,
                 OpenSoT::constraints::GenericConstraint::Type::CONSTRAINT);
 
-    update(Eigen::VectorXd(1));
+    update();
 }
 
 void JointLimitsViability::_log(XBot::MatLogger2::Ptr logger)
@@ -76,7 +76,7 @@ void JointLimitsViability::_log(XBot::MatLogger2::Ptr logger)
     logger->add("_ddq_UB_via", _ddq_UB_via);
 }
 
-void JointLimitsViability::update(const Eigen::VectorXd &x)
+void JointLimitsViability::update()
 {
     _robot.getJointPosition(_q);
     _robot.getJointVelocity(_qdot);
@@ -87,7 +87,7 @@ void JointLimitsViability::update(const Eigen::VectorXd &x)
 
     _generic_constraint_internal->setBounds(__upperBound, __lowerBound);
 
-    _generic_constraint_internal->update(x);
+    _generic_constraint_internal->update();
 
     _Aineq = _generic_constraint_internal->getAineq();
     _bLowerBound = _generic_constraint_internal->getbLowerBound();

diff --git a/src/constraints/acceleration/TorqueLimits.cpp b/src/constraints/acceleration/TorqueLimits.cpp
@@ -19,10 +19,10 @@ TorqueLimits::TorqueLimits(const XBot::ModelInterface &robot,
 
     _enabled_contacts.assign(_contact_links.size(), true);
 
-    update(Eigen::VectorXd(0));
+    update();
 }
 
-void TorqueLimits::update(const Eigen::VectorXd &x)
+void TorqueLimits::update()
 {
     _robot.computeInertiaMatrix(_B);
     _robot.computeNonlinearTerm(_h);
-Original file line number
+Diff line change
@@ Expand Up @@
     }
-    void OpenSoT::constraints::GenericConstraint::update(const Eigen::VectorXd& x)
+    void OpenSoT::constraints::GenericConstraint::update()
     {
     }